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IKPIR: BIBLIOGRAFIJE: COBISS-ID: 17710597 Ljubljana,  

 

Avtorstvo: Janez DUHOVNIK // 1.04 Strokovni članek
Leto: 1997
Citat: DOLINŠEK, Blaž, DUHOVNIK, Janez. Robotizirano sestavljanje armature linijskih armiranobetonskih elementov. Gradb. vestn., januar, februar, marec 1997, let. 46, št. 1/2/3, str. 14-25, graf. prikazi.
Povzetek: V članku je predstavljena zasnova robotskega sistema za sestavljanje armature linijskih armiranobetonskih elementov. Opisan je postopek, primeren za robotizacijo sestavljanja armature na različne načine armiranih linijskih elementov. Na podlagi tega postopka je bila zasnovana robotska celica, v kateri poteka sestavljanje. Vhodni elementi so že izdelane armaturne palice, izhodni pa sestavljeni armaturni koši. Setavljanje izvajajo roboti, opremljeni z orodji za krivljenje armature, za spajanje armature ter s prijemali. Poleg robotov so potrebni še razni mehanizmi, ki rabijo za podpiranje in logistiko med sestavljanjem. Zaradi posebnih zahtev glede prilagodljivosti robotov, ki morajo z orodji doseči določene položaje na armaturnem košu, hkrati pa se morajo izogibati oviram, ni bilo mogoče uporabiti standardnih robotov, ampak smo zasnovali nove. Prikazana robotska celica je v fazi zasnove. Modelirana je bila s programom za simulacijo robotov WORKSPACE 3, ki omogoča proučevanje, optimizacijo in dimenzioniranje njenih sestavnih delov. Iz te simulacije so tudi slike v prispevku, ki prikazujejo princip delovanja sistema. Opisana je tudi vloga in mesto robotske celice v celotnem procesu proizvodnje armature.

The paper presents the design of a robot system for the assembling of the reinforcement cages for beams and columns. A principle of the assembling suitable for the robotisation is described. It could be used for a wide area of the various types of the reinforcement of the columns and beams. Based on this principle a robot cell, where the complete process of the assembling is carried out, was designed. The input elements are pre-manufactured rebars and the output elements are assembled reinforcement cages. The assembling in the robot cell is performed by the robots equipped with tools for grasping of the rebars, tools for bending of the stirrups, and tools for connecting the stirrups with the longitudional bars. Besides, various mechanisms for the logistic and the supporting of the rebars during the assembling process were also designed. Because of the special requirements of the robots regarding their flexibility the standard robots could not be used. Therefore, a special solution of the robot configurations was designed. The robots have to avoid the obstacles during their movement to the certain position. The robot cell, described in this paper, is at present in the design phase. It was modelled and simulated using the program WORKSPACE 3 for the robot simulation, which enables its studying, optimisation and dimensioning of its parts. In the paper the figures, presenting the working of the robot system are also taken from this simulation. The paper also describes the position and role of the robot system inside of the whole production process of the reinforcement. [COBISS.SI-ID 17710597]
Tipologija: 1.04 Strokovni članek
COBISS ID 17710597 Polni zapis iz sistema COBISS
Vpisal 2009/06/10 11:56